#include <bot.h>

Collaboration diagram for Bot:

Public Member Functions
	Bot ()

void	execute ()
	Begins issuing instructions to the robot. More...

State	get_state ()

void	move_x (float distance, float velocity)
	Adds an instruction to move in the x direction. More...

void	move_y (float distance, float velocity)
	Adds an instruction to move in the y direction. More...

void	move (Eigen::Vector2f position, Eigen::Vector2f velocity)
	Adds an instruction to move. More...

void	smooth_move (Eigen::Vector2f position, float velocity, float omega=1 *pi/3)
	Adds an instruction to move. More...

void	spline_move ()

void	rotate (float theta, float omega)
	Adds an instruction to rotate in place. More...

void	set_led (std::vector< Eigen::Vector3i > lights)
	Messes with the lights on the robot, which the manual explicitly says not to do. More...

void	set_pyr (Eigen::Vector3d pitch, Eigen::Vector3d yaw, Eigen::Vector3d roll)
	Sets pitch/yaw/roll of bot's body. More...

void	set_height (float h, float v)
	Sets height of bot's body from the ground. More...

Private Member Functions
void	UDPRecv ()
	Updates internal UDP struct. More...

void	UDPSend ()
	Sends contents of internal UDP struct. More...

void	RobotControl ()
	Executes each instruction. More...

Pose	estimate_pose (Pose prev, a1::HighState state)
	Guesses current position. More...

bool	validate_cmd (a1::HighCmd cmd)
	Ensures a HighCmd is safe to run. More...

Private Attributes
a1::Safety	safe
	Specifies operation mode? More...

a1::UDP	udp
	UDP struct that stores payloads to send/recv. More...

a1::HighCmd	cmd = {0}
	Command to issue to robot's UDP server. More...

a1::HighState	state = {0}
	State recieved from robot's UDP server. More...

Pose	initial_pose
	Initial pose of current instruction. More...

int	motiontime = 0
	Amount of time that has passed. More...

float	dt = 0.002
	Timestep for threads. Allowed range: 0.001~0.01. More...

int	index = 0
	Index of current instruction to execute. More...

bool	executing = false
	Whether or not an instruction is in progress. More...

std::vector< Instruction >	instructions
	List of Instructions to be executed sequentially by the A1. More...

Constructor & Destructor Documentation

◆ Bot()

Bot::Bot ( )

inline

Member Function Documentation

◆ estimate_pose()

Pose Bot::estimate_pose	(	Pose	prev,
		a1::HighState	state
	)

private

Guesses current position.

◆ execute()

void Bot::execute ( )

Begins issuing instructions to the robot.

Initializes the UDP threads and the control loop, then forces main thread to wait. Only call when all instructions have been specified.

◆ get_state()

State Bot::get_state ( )

Returns: state of the robot represented as a State.

◆ move()

void Bot::move	(	Eigen::Vector2f	position,
		Eigen::Vector2f	velocity
	)

Adds an instruction to move.

Parameters

position	Position to walk to in meters relative to robot.
velocity	Velocity of robot while walking. -0.4 to 0.4 m/s.

◆ move_x()

void Bot::move_x	(	float	distance,
		float	velocity
	)

Adds an instruction to move in the x direction.

Parameters

distance	Relative distance (in meters) to walk along x axis.
velocity	Velocity of robot while walking. -0.7 to 1 m/s.

◆ move_y()

void Bot::move_y	(	float	distance,
		float	velocity
	)

Adds an instruction to move in the y direction.

Parameters

distance	Relative distance (in meters) to strafe along y axis.
velocity	Velocity of robot while walking. -0.4 to 0.4 m/s.

◆ RobotControl()

void Bot::RobotControl ( )

private

Executes each instruction.

Ran repeatedly in a thread at runtime.

See also: Bot::execute()

◆ rotate()

void Bot::rotate	(	float	theta,
		float	omega
	)

Adds an instruction to rotate in place.

Parameters

theta	Angle to rotate (in rad).
omega	Angular velocity (in rad/s). -2pi/3 to 2pi/3 rad/s.

◆ set_height()

void Bot::set_height	(	float	h,
		float	v
	)

Sets height of bot's body from the ground.

Pretty useless for now.

◆ set_led()

void Bot::set_led ( std::vector< Eigen::Vector3i > lights )

Messes with the lights on the robot, which the manual explicitly says not to do.

You probably shouldn't run this.

Parameters

lights RGB values for each light.

◆ set_pyr()

void Bot::set_pyr	(	Eigen::Vector3d	pitch,
		Eigen::Vector3d	yaw,
		Eigen::Vector3d	roll
	)

Sets pitch/yaw/roll of bot's body.

Pretty useless for now.

◆ smooth_move()

void Bot::smooth_move	(	Eigen::Vector2f	position,
		float	velocity,
		float	omega = `1*pi/3`
	)

Adds an instruction to move.

Rotates first, does no strafing.

Parameters

position	Position to walk to in meters relative to robot.
velocity	Velocity of robot while walking. -0.4 to 0.4 m/s.
omega	Magnitude of angular velocity (in rad/s). 0 to 2pi/3 rad/s.

See also: Bot::move()

◆ spline_move()

void Bot::spline_move ( )

◆ UDPRecv()

void Bot::UDPRecv ( )

private

Updates internal UDP struct.

Ran repeatedly in a thread at runtime.

See also: Bot::execute()

◆ UDPSend()

void Bot::UDPSend ( )

private

Sends contents of internal UDP struct.

Ran repeatedly in a thread at runtime.

See also: Bot::execute()

◆ validate_cmd()

bool Bot::validate_cmd ( a1::HighCmd cmd )

private

Ensures a HighCmd is safe to run.

Member Data Documentation

◆ cmd

a1::HighCmd Bot::cmd = {0}

private

Command to issue to robot's UDP server.

◆ dt

float Bot::dt = 0.002

private

Timestep for threads. Allowed range: 0.001~0.01.

◆ executing

bool Bot::executing = false

private

Whether or not an instruction is in progress.

◆ index

int Bot::index = 0

private

Index of current instruction to execute.

◆ initial_pose

Pose Bot::initial_pose

private

Initial pose of current instruction.

See also: Bot::RobotControl

◆ instructions

std::vector<Instruction> Bot::instructions

private

List of Instructions to be executed sequentially by the A1.

See also: Bot::RobotControl(); Instruction

◆ motiontime

int Bot::motiontime = 0

private

Amount of time that has passed.

◆ safe

a1::Safety Bot::safe

private

Specifies operation mode?

◆ state

a1::HighState Bot::state = {0}

private

State recieved from robot's UDP server.

◆ udp

a1::UDP Bot::udp

private

UDP struct that stores payloads to send/recv.

The documentation for this class was generated from the following files:

src/bot.h
src/bot.cpp

walter

Public Member Functions

Private Member Functions

Private Attributes

Constructor & Destructor Documentation

◆ Bot()

Member Function Documentation

◆ estimate_pose()

◆ execute()

◆ get_state()

◆ move()

◆ move_x()

◆ move_y()

◆ RobotControl()

◆ rotate()

◆ set_height()

◆ set_led()

◆ set_pyr()

◆ smooth_move()

◆ spline_move()

◆ UDPRecv()

◆ UDPSend()

◆ validate_cmd()

Member Data Documentation

◆ cmd

◆ dt

◆ executing

◆ index

◆ initial_pose

◆ instructions

◆ motiontime

◆ safe

◆ state

◆ udp